FR2656435B1 - Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle. - Google Patents

Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.

Info

Publication number
FR2656435B1
FR2656435B1 FR8917105A FR8917105A FR2656435B1 FR 2656435 B1 FR2656435 B1 FR 2656435B1 FR 8917105 A FR8917105 A FR 8917105A FR 8917105 A FR8917105 A FR 8917105A FR 2656435 B1 FR2656435 B1 FR 2656435B1
Authority
FR
France
Prior art keywords
trajectory
curvature
modifying
vehicle
recording method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR8917105A
Other languages
English (en)
French (fr)
Other versions
FR2656435A1 (fr
Inventor
Jean-Marie Detriche
Alain Micaelli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR8917105A priority Critical patent/FR2656435B1/fr
Priority to US07/626,946 priority patent/US5233526A/en
Priority to EP90403722A priority patent/EP0434569B1/de
Priority to DE69027917T priority patent/DE69027917T2/de
Priority to ES90403722T priority patent/ES2091235T3/es
Publication of FR2656435A1 publication Critical patent/FR2656435A1/fr
Application granted granted Critical
Publication of FR2656435B1 publication Critical patent/FR2656435B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
FR8917105A 1989-12-22 1989-12-22 Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle. Expired - Fee Related FR2656435B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR8917105A FR2656435B1 (fr) 1989-12-22 1989-12-22 Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.
US07/626,946 US5233526A (en) 1989-12-22 1990-12-13 Process for relocking on a theoretical trajectory for a vehicle, whilst modifying the curvature of the real trajectory
EP90403722A EP0434569B1 (de) 1989-12-22 1990-12-20 Verfahren zur Neueinstellung eines Fahrzeuges auf eine theorethische Trajektorie durch Änderung der Krümmung der reellen Trajektorie
DE69027917T DE69027917T2 (de) 1989-12-22 1990-12-20 Verfahren zur Neueinstellung eines Fahrzeuges auf eine theorethische Trajektorie durch Änderung der Krümmung der reellen Trajektorie
ES90403722T ES2091235T3 (es) 1989-12-22 1990-12-20 Procedimiento de reajuste sobre una trayectoria teorica para un vehiculo, modificando la curvatura de la trayectoria real.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8917105A FR2656435B1 (fr) 1989-12-22 1989-12-22 Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.

Publications (2)

Publication Number Publication Date
FR2656435A1 FR2656435A1 (fr) 1991-06-28
FR2656435B1 true FR2656435B1 (fr) 1996-07-05

Family

ID=9388903

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8917105A Expired - Fee Related FR2656435B1 (fr) 1989-12-22 1989-12-22 Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.

Country Status (5)

Country Link
US (1) US5233526A (de)
EP (1) EP0434569B1 (de)
DE (1) DE69027917T2 (de)
ES (1) ES2091235T3 (de)
FR (1) FR2656435B1 (de)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5663879A (en) * 1987-11-20 1997-09-02 North American Philips Corporation Method and apparatus for smooth control of a vehicle with automatic recovery for interference
KR940006567B1 (ko) * 1992-01-06 1994-07-22 삼성전자 주식회사 관성을 이용한 네비게이션 시스템이 부착된 이동로보트
US5471385A (en) * 1992-05-21 1995-11-28 Tsubakimoto Chain Co. Routeless guiding method for moving body
US5416738A (en) * 1994-05-27 1995-05-16 Alliance Semiconductor Corporation Single transistor flash EPROM cell and method of operation
US5566288A (en) * 1994-09-02 1996-10-15 Caterpillar Inc. System and method for automatically fitting a B-spline curve to a set of data points
DE19521358C1 (de) * 1995-06-12 1996-09-05 Siemens Ag Verfahren zur Schlupfermittlung einer autonomen mobilen Einheit mit Dreiradkinematik
US5913376A (en) * 1995-10-31 1999-06-22 Honda Giken Kogyo Kabushiki Kaisha Automatic steering control apparatus
US5988306A (en) * 1997-08-29 1999-11-23 Yazaki Industrial Chemical Co., Ltd. Automatically guided vehicle
US6134486A (en) * 1998-04-20 2000-10-17 The United States Of America As Represented By The Secretary Of The Navy Robot and method of control for an autonomous vehicle to track a path consisting of directed straight lines and circles with positional feedback and continuous curvature
DE19822508A1 (de) 1998-05-19 1999-12-02 Daimler Chrysler Ag Verfahren zur Generierung von Ankopplungsbahnen, verwendbar zur Führung eines Fahrzeugs zu einer vorgegebenen Zielbahn
US6314341B1 (en) * 1999-11-26 2001-11-06 Yutaka John Kanayama Method of recording trajectory data and sensor data for a manually-driven vehicle
US6377889B1 (en) * 2000-10-13 2002-04-23 Trimble Navigation Limited Non-linear method of guiding to arbitrary curves with adaptive feedback
JP4230312B2 (ja) * 2003-08-21 2009-02-25 富士重工業株式会社 車両の進行路推定装置、及び、その進行路推定装置を備えた走行制御装置
US7266438B2 (en) * 2005-08-26 2007-09-04 Gm Global Technology Operations, Inc. Method of assisting driver to negotiate a roadway
US8510041B1 (en) * 2011-05-02 2013-08-13 Google Inc. Automatic correction of trajectory data
DE102013001228A1 (de) * 2013-01-25 2014-07-31 Wabco Gmbh Verfahren zum Ermitteln eines Auslösekriteriums für eine Bremsung und Notbremssystem für ein Fahrzeug
DE102013001229A1 (de) 2013-01-25 2014-07-31 Wabco Gmbh Verfahren zum Ermitteln eines Auslöekriteriums für eine Bremsung und ein Notbremssystem zur Durchführung des Verfahrens
CN109416544B (zh) 2016-06-29 2022-08-16 日本电产株式会社 移动体引导系统、移动体、引导装置以及存储器
JP6643370B2 (ja) 2018-01-23 2020-02-12 本田技研工業株式会社 走行基準ライン決定装置及び自動運転装置
US11392127B2 (en) * 2018-10-15 2022-07-19 Zoox, Inc. Trajectory initialization
CN114563982B (zh) * 2022-01-24 2023-05-09 中铁九桥工程有限公司 一种移动设备在圆管上运动轨迹的控制方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3757887A (en) * 1971-07-09 1973-09-11 Versadyne Inc Vehicle guidance system
SE423839B (sv) * 1980-10-02 1982-06-07 Volvo Ab Sett och anordning for styrning av ett styrbart hjulfordon
US4817000A (en) * 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system
DE3787003T2 (de) * 1986-05-21 1994-03-24 Komatsu Mfg Co Ltd Lenkvorrichtung für sich unbemannt bewegende körper.
JP2665738B2 (ja) * 1986-07-11 1997-10-22 株式会社小松製作所 地点追従方式による無人移動機械の誘導方法
JP2572968B2 (ja) * 1986-07-14 1997-01-16 株式会社椿本チエイン 自律走行車の誘導方法

Also Published As

Publication number Publication date
FR2656435A1 (fr) 1991-06-28
EP0434569A1 (de) 1991-06-26
EP0434569B1 (de) 1996-07-24
US5233526A (en) 1993-08-03
DE69027917D1 (de) 1996-08-29
DE69027917T2 (de) 1997-02-06
ES2091235T3 (es) 1996-11-01

Similar Documents

Publication Publication Date Title
FR2656435B1 (fr) Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.
FR2678879B1 (fr) Procede pour detecter la situation de marche ou le comportement de giration d'un vehicule.
FR2407091B1 (fr) Procede d'exploitation d'un vehicule, en particulier d'une voiture automobile et vehicule pour la mise en oeuvre de ce procede
FR2710602B1 (fr) Installation pour la direction, régulée pour tenue de trajectoire, d'un véhicule.
FR2695369B1 (fr) Procédé pour la régulation de la stabilité d'un véhicule.
FR2549759B1 (fr) Installation de soudage a points multiples, notamment pour carrosserie de vehicule
DE69010681D1 (de) Steuersystem für die aufhängung eines fahrzeugs.
FR2669594B1 (fr) Procede pour activer l'installation hydraulique de freins de service d'un vehicule routier.
IT1237697B (it) Carrozzeria per un autoveicolo
FR2656575B1 (fr) Projecteur pour vehicule.
DE69013907D1 (de) Steuersystem für die aufhängung eines landfahrzeugs.
FR2536125B1 (fr) Dispositif pour rendre uniforme la course d'un embrayage hydraulique, notamment d'un vehicule automobile
FR2626054B2 (fr) Profile pour joints d'etancheite, notamment pour carrosserie d'automobile
FR2538058B1 (fr) Mecanisme d'embrayage, notamment pour vehicule automobile
DE3678420D1 (de) Steuersystem fuer die konstante fahrgeschwindigkeit eines fahrzeugs.
FR2506474B1 (fr) Procede permettant de modifier la direction de deplacement d'un vehicule sans chauffeur guide electromagnetiquement
FR2656574B3 (fr) Phare pour vehicule a faisceau orientable.
FR2473429B1 (fr) Dispositif de reglage de la suspension hydraulique d'un vehicule
DE69014620D1 (de) Steuersystem für die aufhängung eines landfahrzeugs.
FR2500093B1 (fr) Mecanisme d'embrayage, notamment pour vehicule automobile
FR2479117B1 (fr) Plaque mineralogique pour vehicule automobile, facilitant l'identification d'un vol
FR2530571B1 (fr) Dispositif de cylindre et piston, engrenage de direction assistee utilisant ce dispositif et procede de fabrication d'un piston pour ce dispositif
FR2691211B1 (fr) Dispositif d'actionnement hydraulique, pour actionner la capote d'un vehicule.
FR2505750B2 (fr) Dispositif pour le reglage dynamique de la position des projecteurs d'un vehicule
FR2508123B1 (fr) Mecanisme d'embrayage, notamment pour vehicule automobile

Legal Events

Date Code Title Description
ST Notification of lapse